def test_interface(self):
"""
Main test part
"""
self.assertTrue(admap.init("test_files/TPK.adm.txt"))
# map loaded
lanes = admap.getLanes()
self.assertEqual(len(lanes), 141)
# map matching
mapMatching = admap.AdMapMatching()
geoPoint = admap.GeoPoint()
geoPoint.longitude = admap.Longitude(8.4401803)
geoPoint.latitude = admap.Latitude(49.0191987)
geoPoint.altitude = admap.Altitude(0.)
mapMatchingResults = mapMatching.getMapMatchedPositions(
geoPoint, physics.Distance(0.01), physics.Probability(0.05))
self.assertEqual(len(mapMatchingResults), 1)
# route planning
routingStart = mapMatchingResults[0].lanePoint.paraPoint
routingEnd = admap.ParaPoint()
routingEnd.laneId = routingStart.laneId
routingEnd.parametricOffset = physics.ParametricValue(0.0)
routeResult = admap.planRoute(admap.createRoutingPoint(routingStart),
admap.createRoutingPoint(routingEnd))
routeLength = admap.calcLength(routeResult.roadSegments[0])
self.assertEqual(int(float(routeLength)), 4)
admap.cleanup()
def _initialize_ego_vehicle(self):
# laneId: offset 240151:0.55
self._initialize_object(admap.Longitude(8.00125444865324766),
admap.Latitude(48.99758627528235877),
math.pi / 2, self.egoObject)
self.egoSpeed = physics.Speed(5.)
# laneId: offset 120149:0.16
positionEndGeo = admap.createGeoPoint(
admap.Longitude(8.00188527300496979),
admap.Latitude(48.99821051747871792), admap.Altitude(0.))
self.egoRoute = admap.planRoute(
self.egoObject.mapMatchedBoundingBox.referencePointPositions[
admap.ObjectReferencePoints.Center][0].lanePoint.paraPoint,
positionEndGeo)
def _initialize_object(self, lon, lat, yawAngle, resultObject):
positionGeo = admap.createGeoPoint(lon, lat, admap.Altitude(0.))
# fill the result position
resultObject.enuPosition.centerPoint = admap.toENU(positionGeo)
resultObject.enuPosition.heading = admap.createENUHeading(yawAngle)
resultObject.enuPosition.dimension.length = physics.Distance(4.5)
resultObject.enuPosition.dimension.width = physics.Distance(2.)
resultObject.enuPosition.dimension.height = physics.Distance(1.5)
resultObject.enuPosition.enuReferencePoint = admap.getENUReferencePoint(
)
mapMatching = admap.AdMapMatching()
resultObject.mapMatchedBoundingBox = mapMatching.getMapMatchedBoundingBox(
resultObject.enuPosition, physics.Distance(0.1))
self.assertGreaterEqual(
len(resultObject.mapMatchedBoundingBox.referencePointPositions),
admap.ObjectReferencePoints.Center)
self.assertGreaterEqual(
len(resultObject.mapMatchedBoundingBox.referencePointPositions[
admap.ObjectReferencePoints.Center]), 0)